Machine and Method of Cutting Material

ABSTRACT

A machine for cutting material includes an undercarriage including propulsion device for propelling the machine and a cutter head disposed on a tool support and positioning assembly movably supported by the undercarriage to remove material from a cutting surface. The machine further includes a plurality of ground-engaging devices connected to the undercarriage that can be simultaneously raised and lowered with respect to a ground floor. Examples of ground-engaging devices include stabilizers for stabilizing the machine when milling or cutting material and a load shield that prevents material from scattering underneath the machine.

TECHNICAL FIELD

This patent disclosure relates generally to a machine configured forcutting material and the like and, more particularly, to a system andmethod for controlling components on the machine used to engage theground surface.

BACKGROUND

Mobile machines may be configured for above or underground operation toperform excavation, tunneling, or underground mining. Such machines mayhave a low profile design and include an undercarriage with continuoustracks or similar propulsion devices to transport the machine about theunderground worksite. To perform a cutting or milling operation, arotary cutter head is disposed on a tool support and positioningassembly supported by the undercarriage. The cutter head can be acircular, drum-like structure that supports a plurality of cutting toolsabout its circular periphery. The cutting tools themselves may beforcibly rotated with respect to the periphery of the cutter head andinclude bits made of tungsten carbide, synthetic diamond, or similarhard substances to dislodge and chip material away from the cuttingsurface or wall. The tool support and positioning assembly can beconfigured to move the cutter head in multiple directions to make passesor sweeps with respect to the cutting surface removing successive layersof material from the cutting surface.

It can be appreciated that as the cutter head is swept across thecutting surface during the cutting or milling operation, the machine mayexperience resistive vibrations and reaction forces, especially whenmilling hard materials such as rock. Therefore, to provide stabilizationand support, the machine may be configured with extendable andretractable ground-engaging devices that can be extended to engage theground floor of the worksite. One example of such extendable andretractable ground-engaging devices is described in U.S. Pat. No.8,979,209 (“the '209 patent”), which describes an underground machinehaving a plurality of stabilizers with hydraulically powered levelingand support actuators. When the machine is positioned to perform acutting or milling operation, the leveling and support actuators areextended to engage both the tunnel floor and tunnel roof to brace andsupport the machine. The current disclosure is directed to a machineconfigured with similar extendable and retractable ground engagingdevices to stabilize and support the machine and facilitate theoperation.

SUMMARY

The disclosure describes, in one aspect, a machine for aboveground orunderground cutting or milling of material such as in excavation, miningor tunneling. The machine includes an undercarriage having first andsecond propulsion devices for propelling the machine about a worksite.To remove material from a cutting surface, the machine includes a cutterhead disposed on a tool support and positioning assembly that has acutter boom slidably disposed over the undercarriage. The machine alsoincludes a plurality of ground-engaging devices that are extendable andretractable from the undercarriage to engage a ground floor. Theplurality of ground-engaging device can be configured to be extended andretracted simultaneously through an electronic control systemoperatively associated with the machine.

The disclosure describes, in another aspect, a method for undergroundcutting of material by positioning a machine proximate to a cuttingsurface. To brace the machine when cutting material, a plurality ofground-engaging devices retractably attached to an undercarriage of themachine are simultaneously extended toward the ground floor. A cutterhead disposed on a cutter boom disposed on the front of the machine ismoved toward a cutting surface to remove material from the cuttingsurface. After making one or passes with respect to the cutting surface,the cutter head is retracted with respect to the cutting surface and theplurality of ground-engaging devices are simultaneously retracted withrespect to the undercarriage so that the machine can be trammed to a newposition.

In yet another aspect, the disclosure describes a machine that includesan undercarriage supported on first and second propulsions devices topropel the machine. The machine also includes a cutter head disposed ona tool support and positioning assembly supported on the undercarriage.A plurality of stabilizers are included that can extend and retract withrespect to the undercarriage to contact a ground floor to support themachine when cutting material. In addition, a load shield that is alsoextendably and retractably attached to the undercarriage can extend toengage to the ground floor. An electronic control system has a switchfor simultaneously extending and retracting the plurality of stabilizersand the load shield.

BRIEF DESCRIPTION OF THE DRAWINGS

FIG. 1 is a front perspective view of an embodiment of a machineconfigured for cutting material having a rotary cutter head movablysupported on an undercarriage with continuous tracks for transportingand tramming the machine with respect to a cutting surface.

FIG. 2 is a side elevational view of the machine in an undergroundworksite or tunnel and having a plurality of extendable and retractableground-engaging devices extended to engage the ground floor.

FIG. 3 is a schematic representation of a remote control for remotelyoperating the machine including switches and dials for operating theextendable and retractable ground-engaging devices.

FIG. 4 is a schematic representation of the toggle switch on the remotecontrol for extending and retracting the ground-engaging devices takenthrough line 4-4 of FIG. 5.

FIG. 5 is a flowchart or logic diagram illustrating an embodiment of aroutine or process for operating the ground-engaging devices during amilling or cutting operation by the machine.

DETAILED DESCRIPTION

Now referring to the drawings, wherein like reference numbers refer tolike elements, there is illustrated in FIGS. 1 and 2 a mobile or movablemachine 100 configured for aboveground or underground operation such asexcavation, tunneling, or underground mining. The machine 100 may berelatively large, on the order of several meters in length, and may beintended to remove material in quantities sufficient to createworkspaces that are meters high and wide. To propel or transport themachine 100 about the underground worksite, the machine 100 can includean undercarriage 102 configured with a plurality of continuous tracks104 disposed on opposite sides of the machine 100 that can propel themachine 100 in the forward or reverse directions as well as turn themachine 100 side-to-side. As shown in FIG. 2, the continuous tracks 104translate as a closed loop or belt with respect to the ground floor 106to position the machine 100 with respect to a cutting surface or wall108 from which material such as rock is to be removed. While theillustrated embodiment includes two continuous tracks 104, otherembodiments may include any suitable number of continuous tracks 104 ormay utilize different propulsive drive mechanisms such as wheels.

To cut or mill material from the cutting surface 108, the machine 100includes a cutter head 110 having a plurality of cutting tools 112disposed about its radial periphery. The cutter head 110 can include adrum structure 114 that can be made to forcibly rotate about a cutterhead axis 116, thereby revolving the cutting tools 112 with respect tothe cutting surface 108. The cutting tools 112 can be supported incorresponding sockets disposed in the drum structure 114 and, in anembodiment, can be made to forcibly rotate or spin within the drumstructure 114 for increased cutting action. To impact and dislodgematerial from the cutting surface 108, a plurality of bits 118 can bedisposed about the exterior surface of the cutting tools 112. The bits118 can be made of tungsten carbide, polysynthetic diamond, or a similarmaterial having good hardness characteristics. As the bits 118 weardown, the cutting tools 112 may be removed from the cutter head 110 andreplaced.

To move the cutter head 110 in passes or sweeps with respect to thecutting surface 108, the cutter head 110 can be supported on a toolsupport and positioning assembly 120 that is configured to move or pivotin multiple directions or about various axes. For example, to feed thecutter head 110 into the cutting surface 108 or to retract the cutterhead 110 from the cutting operations 108, the tool positioning andsupport assembly 120 includes a cutter boom 122 that is slidablydisposed on the undercarriage 102 to laterally translate in the forwardand rearward directions along a boom axis 124 indicted by thedouble-headed arrow. The cutter boom 122 can be generally supported overthe continuous tracks 104 on rails or the like to enable translationwith respect to the undercarriage 102. To cause the cutter boom 122 totranslate along the forward and rearward directions along a boom axis124, the cutter boom 122 can be operatively associated with one or morehydraulic actuators, specifically a boom actuator 126. The boom actuator126 can be located on a rear portion 128 of the machine 100 and arrangedto slide the cutter boom 122 to feed and retract the cutter head 110disposed at the front portion 129 of the machine 100. In an embodiment,the travel distance of the cutter boom 122 between a fully extendedposition toward the front portion 129 of the machine 100 and a fullyretracted position toward the rear portion 128 may be about a meter ormore.

To cause the cutter head 110 to sweep in a side-to-side motion, the toolsupport and positioning assembly 120 can include a swing platform 130such as a pivot table or the like supported on the cutter boom 122 thatpivots the cutter head 110 with respect to the undercarriage 102.Actuation of the swing platform 130 moves the cutter head 110horizontally in an arc about the vertically orientated swing axis 132.To actuate the swing platform 130, the swing platform 130 can beoperatively associated with hydraulic actuators or swing actuators 134that are connected to either side of the swing platform 130 and to thecutter boom 122. Extension of one swing actuator 134 and retraction ofthe other will rotate the swing platform 130 though a horizontal planeabout the swing axis 132.

To vertically raise and lower the cutter head 110 with respect to theground floor 106 and cutting surface 108, the tool support andpositioning assembly 120 can include a cantilevered lift arm 140disposed on the swing platform 130. The cantilevered lift arm 140 canpivot the cutter head 110 along the horizontally extending tilt axis 142that may be parallel with the cutter head axis 116. In particular, thecantilevered lift arm 140 extends over the front portion 129 of themachine 100 and has a hinge or pivot joint 144 that articulates theforward part of the cantilevered lift arm 140 in an up-and-down motion.To actuate the cantilevered lift arm 140, another hydraulic actuator orlift actuator 146 can be operatively arranged on the cantilevered liftarm 140 to articulate the pivot joint 144. In a further possibleembodiment, to twist or roll the cutter head 110, the distal end of thecantilevered lift arm 140 can be configured with a roll joint 148 thatrolls or rotates the cutter head axis 116 with respect to the rest ofthe machine 100.

Hence, the tool support and positioning assembly 120 is capable ofmoving the cutter head 110 in variety of directions and through a rangeof motions to facilitate making cutting or milling passes with respectto the cutting surface 108. The hydraulic actuators that serve as theboom actuator 126, swing actuator 134, and lift actuator 146 can beconfigured as double acting hydraulic cylinders with telescoping pistonsthat extend and retract from the cylinder body. However, in otherembodiments of the machine 100, one or more of the hydraulic actuatorsmay be replaced with other hydraulic devices or with electric motors orthe like.

Because the cutter head 110 is disposed over the front portion 129 ofthe machine 100, the material it removes from the cutting surface 108will gather in front of the machine 100 and can hinder further millingor cutting operations. To remove the gathered material, the frontportion 129 of the machine 100 can be equipped with a gathering head orgathering frame 150 that extends across the width of the machine 100below the cutter head 110 proximate to the ground floor 106. Thegathering frame 150 can be configured to scoop the material from theground floor 106 and may be designed to adjustably span the width of theground floor 106 between opposing gathering wings 152 that canadjustably extend outwards from the sides of the machine 100.

To remove the material collected by the gathering frame 150, a conveyer154 in the form of a translating belt is disposed through the machine100 that passes the material from the front portion 129 through to therear portion 128 of the machine 100. The conveyer entrance 156 can be anopening centrally disposed in the skirt of the gathering frame 150 withthe conveyer 154 extending lengthwise through the machine 100 above theundercarriage 102 to the conveyer exit 158 located at the rear portion128 of the machine 100. To direct the material to the conveyer 154, thegathering frame 150 can include gathering arms 159 that pivotally sweepacross the surface of the gathering frame 150 toward the conveyerentrance 156. Referring to FIG. 2, during the cutting or millingoperation, to remove material discharged at the conveyer exit 158, asecondary conveyer system 160, separate from the machine 100 can bepositioned proximate to the rear portion 128 of the machine 100 thatextends to the entrance of the worksite. Accordingly, the machine 100and the secondary conveyer system 160 are configured to continuouslyremove material from the worksite. In an alternative embodiment, insteadof a separate conveyer system 160, carts may be used to carry thematerial away.

Because the machine 100 may be intended for underground work whereexhaust from internal combustion engines would be unacceptable,referring to FIG. 1, the machine 100 can be equipped with one or moreelectric motors 170 that provide power. A remote power source, such as agenerator, can provide three-phase electrical power to the electricmotors 170 via cables. In the embodiments in which the continuous tracks104 and hydraulic actuators of the tool support and positioning assembly120 are hydraulically operated, a hydraulic system 172 including ahydraulic pump and a hydraulic fluid reservoir can be operativelyassociated with the electrical motors 170 to generate fluid pressure foroperation. To further facilitate the milling or cutting operation, themachine 100 can be equipped with one or more hydraulically extendableand retractable devices that are operatively associated with thehydraulic system 172. For example, the machine 100 can includeground-engaging devices retractably attached to the undercarriage 102that can be hydraulically extended to contact the ground floor 106.

Referring to FIG. 2, as a more specific example, to stabilize andsupport the machine 100 during a cutting or milling operation as thecutter head 110 is fed into the cutting surface 108, the machine 100 caninclude one or more stabilizers 180. In the illustrated embodiment, fourstabilizers 180 can be retractably attached to the undercarriage 102proximate to the corners of the machine 100. The stabilizers 180 caninclude a hydraulic actuator designated as a stabilizer actuator 182that extends and retracts a stabilizer leg 184 attached at its distalend to a ground pad 186. During the milling or cutting operation, thestabilizer leg 184 is extended so that the ground pad 186 contacts theground floor 106 and braces the machine 100. However, if the cutter head110 must be repositioned with respect to the cutting surface 108, thestabilizers 180 can be retracted lifting the ground pads 186 so thecontinuous tracks 104 can move the machine 100 with respect to theground floor 106. For example, the feed distance the cutter boom 122 canmove with respect to the boom axis 124 is fixed and after the cutterboom 122 has been fully extended, the machine 100 needs to berepositioned with respect to the cutting surface 108 to perform the nextmilling or cutting operation. The process of repositioning the machine100 with respect to the cutting surface 108 between successive millingor cutting operations may be referred to as tramming the machine 100.

In an embodiment, the stabilizers 180 can operate individually andautonomously from each other. Specifically, each stabilizer 180 caninclude a pressure sensor 188 monitoring hydraulic pressure in thestabilizer actuator 182 and that is operatively configured to ceaseextension of the stabilizer leg 184 if the monitored pressure exceeds apressure threshold, indicating that the stabilizer has firmly engagedthe ground floor 106. Accordingly, even if the ground floor 106 isuneven, each stabilizer 180 extends to a coordinated distance to assistin leveling the machine 100 with respect to the ground floor 106.

As another example of a ground-engaging device may be a load shield 190disposed on the rear portion 128 of the machine 100 proximately belowthe conveyer exit 158. The load shield 190 can prevent the materialdischarged from the conveyer exit 158 from scattering underneath theundercarriage 102 and can assist directing the discharged material tothe secondary conveyer system 160. In an embodiment, the load shield 190can be a flat plate connected perpendicularly to the undercarriage 102and that extends proximately the width of the machine 100. To lower theload shield 190 to contact the ground floor 106 during a milling orcutting operation, and to raise the load shield 190 during tramming, ahydraulically actuated shield actuator 192 can be operatively connectedto pivotally swing the load shield 190 underneath the undercarriage 102.In other embodiments, however, the load shield 190 may be raised andlowered by other methods. As a further example of a ground-engagingdevice, in an embodiment the gathering frame 150 may be connected to theundercarriage 102 by one or more frame actuators 194. The frameactuators 194 can lower the gathering frame 150 to the ground floor 106during a milling or cutting operation and can raise the gathering frame150 when tramming.

The stabilizer actuators 182 associated with the stabilizers 180 and theshield actuator 192 associated with the load shield can also beconfigured as double acting hydraulic cylinders with telescoping pistonsthat extend and retract from the cylinder body. It should be appreciatedthat operation of the hydraulic actuators is not instantaneous and thatextension and retraction may require time to occur.

To control operation of the machine 100, an electronic control system200 can be included as shown in FIG. 1. The electronic control system200 can have any suitable computer architecture and can be in electroniccommunication with the various components and systems on the machine 100to send and receive electronic signals in digital or analog form thatenable the electronic control system 200 to monitor and regulate theoperations and functions of the machine 100. The electronic controlsystem 160 may execute and process functions, steps, routines, controlmaps, data tables, charts, and the like saved in and executable fromcomputer readable and writable memory or another electronicallyaccessible storage medium to control the machine 100. To perform thesefunctions and operations, the electronic control system 200 can beconfigured as a microprocessor, an application specific integratedcircuit (ASIC), or other appropriate circuitry and may have memory orother data storage capabilities. The memory can include any suitabletype of electronic memory devices such as random access memory (“RAM”),read only memory (“ROM”), dynamic random access memory (“DRAM”), flashmemory and the like. Although in the schematic representation of FIG. 1,the electronic control system 200 is represented single, discrete unit,in other embodiments, the electronic control system 200 and itsfunctions may be distributed among a plurality of distinct and separatecomponents.

In an embodiment, the machine 100 may be remotely operated through theelectronic control system 200. As illustrated in FIG. 1, a remotecontrol 202 can be in communication with the electronic control system200 to send and receive operation signals that direct operation of themachine 100. Accordingly, an operator can stand away from the machine100 while controlling its operations via the remote control 202.Communication between the electronic control system 200 and the remotecontrol 202 may be wireless, i.e., via radio signals or otherelectromagnetic technology, or may be conducted through control cables.As described more fully below, in an embodiment, the electronic controlsystem 200 and the remote control 202 may be configured for either orboth automated or automatic control and operator or manual control ofthe machine 100.

Referring to FIG. 3 in addition to FIGS. 1 and 2, the remote control 202can be configured with various dials, switches, and controls tointerface with the electronic control system 200. For example, theremote control 202 can include a first multi-directional joystick 204that selectively operates the continuous tracks 104 on the undercarriage102 to position the machine 100. A second multi-directional joystick 206can be used to selectively control the tool support and positioningsystem 120 to orientate and operate the cutter head 110 during a millingor cutting operation. In addition to the foregoing, the remote control202 can include a display screen 208 such as a liquid crystal display toprovide operational information regarding the machine 100.

To extend the stabilizers 180 prior to initiating a milling or cuttingoperation, the remote control can include a toggle switch 210 thatincludes a mechanical lever that can be moved to various positions toselectively actuate the stabilizer actuators 182. In an embodiment, thetoggle switch 210 can have a multi-throw configuration with themechanical lever 211 movable between an extend position 212 to extendthe stabilizers 180 to the ground floor 106, a retract position 214 toretract the stabilizers 180 with respect to the undercarriage 102, and aneutral position 216 in which the stabilizers 180 remain locked in theirextended or retracted position. In a further embodiment, the toggleswitch 210 can be configured as a normally opened circuit that requiresthe mechanical lever 211 of the trigger switch 210 be held in theselected position to continue actuation of the stabilizers 180, and willbias the mechanical lever back to the neutral position 216 and ceaseactuation upon release. In other embodiments, the toggle switch 210 canbe configured as a single-throw or single action switch in which theselected actuation of the stabilizers will continue upon release of themechanical lever 211.

In a further embodiment, illustrated in FIG. 4, the toggle switch 210may be configured with a counter or detents that switches betweenceasing activity upon release and acting as a single-throw switch. Forexample, the mechanical lever 211 may be normally biased to a central,upright orientation corresponding to the neutral position 216. If themechanical lever 211 is partially toggled or pivoted in one direction orthe other, it may enter the extended position 212 or retracted position214 where it functions as a normally opened circuit such that release ofthe mechanical lever 211 biases it back into the neutral positionbreaking the circuit and ceasing movement of the ground-engagingdevices. However, if the mechanical lever 211 is pushed or toggledfurther into the extend or retract positions 212, 214, it may physicallyslide past the detents 220 formed in the slot of the toggle switch 210into an auto-extend position 222 or an auto-retract position 224. In theauto-extend and auto-retract positions 222, 224, extension or retractionof the ground-engaging devices continues automatically even upon releaseof the mechanical lever 211, similar to a single-throw configuration.The electrical contacts within the body of the toggle switch 210 can bearranged to recognize the separate positions. The detents 220 mayprovide a tactile indication that the mechanical lever 211 has beentoggled into the auto-extend and auto-retract positions 222, 224. Toselectively cease extension or retraction of the ground-engagingdevices, the mechanical lever 211 may be toggled past the detents 220 inthe opposite direction. In another embodiment, cessation of theextension or retraction of the ground-engaging devices can be directedby moving the mechanical lever 211 of the toggle switch 210 in theopposite direction through the neutral position 216 and into therespective extend or retract positions 212, 214 but before sliding pastthe detents 220 and into the auto-extend or auto-retract positions 222,224.

In an embodiment, the machine 100 can be configured with differentoperating modes selectable via a mode switch or mode dial 220illustrated in FIG. 3. For example, to move and position the machine 100at the underground worksite, the mode dial 230 can be turned to apositioning mode 232 that enables operation of the continuous tracks 104but prevents actuation of the cutter head 110 and tool support andpositioning assembly 120. The positioning mode 232 may also be selectedto tram the machine 100 and move the cutter head 110 proximate to thecutting surface 108 between successive milling or cutting operations. Toconduct a milling or cutting operation, the mode dial 230 can be turnedto a cutting mode 234 that enables operation of the cutter head 110 andtool support and positioning assembly 120 but prevents engagement of thecontinuous tracks 104 to avoid unintentional reorientation of themachine 100. When the cutting mode 234 is selected, the remote control202 in cooperation with the electronic control system 200 can confirmthat the stabilizers 180 have been extended to stabilize the machine 100prior to initiating the operation or cutting operation.

It should be appreciated that in an alternative embodiment, the machine100 may not be configured for remote operation. In such an embodiment,the machine 100 may include an operator station that can accommodate aoperator and where a number of the foregoing controls can be accessedfor operating the machine, including the toggle switch 210 for raisingand lowering the ground-engaging devices and the mode dial 220 forselecting the operating mode of the machine 100.

INDUSTRIAL APPLICABILITY

Referring to FIG. 4, there is illustrated a process 300 for operatingthe machine 100 that can be conducted through a plurality of stepsexecuted by the electronic control system 200 in conjunction with theremote control 202. The process 300 can be embodied as softwareincluding instructions and commands written in computer-executableprogramming code. The process 300 illustrated in FIG. 5 may bespecifically intended to regulate and control operation of theextendable and retractable ground-engaging devices. Referring to FIGS.1-4, in an initialization step 302, the process 300 can initialize theremote control 202 to communicate operation signals to and from theelectronic control system 200 on the machine 100. Once initialized,operation of the machine 100 can occur through use of the remote control202.

For example, the process 300 may execute a monitoring step 304 thatmonitors or senses the position of the toggle switch 210 on the remotecontrol 202. If, in a subsequent toggle position determination step 306,the process 300 determines the toggle switch 210 has been moved to theextend position 212 indicating that an operator intends to extend thestabilizers 180 to perform a milling or cutting operation, the remotecontrol 202 communicates an extend command 310 to the electronic controlsystem 200. The extend command 310 directs the stabilizer actuators 182to extend the stabilizers 180 with respect to the undercarriage 102(extend stabilizers 312). Because the operation will likely be conductedwith the conveyer 154 operating, the extend command 310 can also act toextend the load shield 190 concurrently by appropriately directingoperation of the shield actuator 192 (extend shield 314). The extendcommand 310 thereby ties, couples, or latches two operations of theground-engaging devices together.

If the position determination step 306 instead determines that thetoggle switch 210 has been moved to the retract position 214, forexample to tram the machine 100, the remote control 202 can communicatea retract command 320 to the electronic control system 200. The retractcommand 320 directs the stabilizer actuators 182 to retract thestabilizers 180 with respect to the ground floor 106 (retractstabilizers 322). Similarly, the retract command 320 can also functionto concurrently retract the loading shield 190 (retract shield 324).Hence, the extend command 310 and the retract command 320 simultaneouslyoperate both the stabilizer actuators 182 and the shield actuator 192,thereby reducing the actions taken with respect to the remote control202. In the embodiments where the gathering frame 150 can be selectivelypositioned, the extend command 310 and the retract command 320 cansimultaneously activate the appropriate action of the frame actuator194. In a further embodiment, the process 300 can return to a neutralstate 328 to maintain the current position of the ground-engagingdevices then repeat itself to determine if the position of theground-engaging device should be changed.

In another embodiment, the process 300 can execute a monitoring step 329to monitor selection of the mode dial 230 to determine which operatingmode has been selected. The process further executes a modedetermination step 330 that can couple operation of the extendable andretractable ground-engaging devices to the selected operating mode ofthe machine 100. For example, if the mode dial 230 is turned to thepositioning mode 232, possibly indicating that the machine 100 is aboutto tram to reposition the cutter head 110, the remote control 202 cancommunicate a tram command 332 to the electronic control system 200. Toprepare for tramming, the tram command 332 can activate the stabilizeractuators 182 to retract the stabilizers 180 with respect to the groundfloor 106 (retract stabilizers 334) so the stabilizers 180 do notobstruct tramming of the machine 100. The tram command 332 cansimultaneously activate the shield actuator 192 to retract the loadshield 190 (retract shield 336) and disengage from the ground floor 106.Hence, the tram command 332 ties operation of the stabilizers 180 andload shield 190 together.

Likewise, if the mode determination step 330 determines the mode dial230 is turned to the cutting mode 234, the remote control 202 cancommunicate a cutting command 342 to the electronic control system 200concurrently and simultaneously extending the stabilizers 180 (extendstabilizers 344) and the load shield 190 (extend load shield 346) tocontact the ground floor 106. Hence, the stabilizers 180 brace themachine 100 and the load shield 190 is appropriately set at the start ofthe milling or cutting operation. Again, in the embodiments where thegathering frame 150 is movable, the retract and extend commands candirect appropriate actuation of the frame actuator 194. The process 300can proceed to a neutral state 348 similar to that described above. Apossible advantage of the mode determination step 330 is that it ensuresthe extendable and retractable ground-engaging devices are properlysituated before the respective operation of the machine may becommenced.

It will be appreciated that the foregoing description provides examplesof the disclosed system and technique. However, it is contemplated thatother implementations of the disclosure may differ in detail from theforegoing examples. All references to the disclosure or examples thereofare intended to reference the particular example being discussed at thatpoint and are not intended to imply any limitation as to the scope ofthe disclosure more generally. All language of distinction anddisparagement with respect to certain features is intended to indicate alack of preference for those features, but not to exclude such from thescope of the disclosure entirely unless otherwise indicated.

Recitation of ranges of values herein are merely intended to serve as ashorthand method of referring individually to each separate valuefalling within the range, unless otherwise indicated herein, and eachseparate value is incorporated into the specification as if it wereindividually recited herein. All methods described herein can beperformed in any suitable order unless otherwise indicated herein orotherwise clearly contradicted by context.

The use of the terms “a” and “an” and “the” and “at least one” andsimilar referents in the context of describing the invention (especiallyin the context of the following claims) are to be construed to coverboth the singular and the plural, unless otherwise indicated herein orclearly contradicted by context. The use of the term “at least one”followed by a list of one or more items (for example, “at least one of Aand B”) is to be construed to mean one item selected from the listeditems (A or B) or any combination of two or more of the listed items (Aand B), unless otherwise indicated herein or clearly contradicted bycontext.

Accordingly, this disclosure includes all modifications and equivalentsof the subject matter recited in the claims appended hereto as permittedby applicable law. Moreover, any combination of the above-describedelements in all possible variations thereof is encompassed by thedisclosure unless otherwise indicated herein or otherwise clearlycontradicted by context.

1. A machine for removing material, the machine comprising: anundercarriage including a first propulsion device and a secondpropulsion device for propelling the machine about an worksite; a cutterhead disposed on tool support and positioning assembly including acutter boom that is slidably disposed on the undercarriage; and aplurality of ground-engaging devices that are extendable andretractable, with respect to the undercarriage, to engage a groundfloor, the plurality of ground-engaging device are configured to beextended and retracted simultaneously through an electronic controlsystem operatively associated with the machine.
 2. The machine of claim1, wherein the plurality of ground-engaging devices includes astabilizer and a load shield.
 3. The machine of claim 2, wherein thestabilizer includes a stabilizer actuator that hydraulically extends andretracts a stabilizer leg attached to a ground pad.
 4. The machine ofclaim 3, wherein the load shield is pivotally connected to theundercarriage and can be pivoted with respect to the undercarriage by ashield actuator.
 5. The machine of claim 4, further comprising aconveyer disposed through the machine from a conveyer entrance to aconveyer exit to move material from a front portion of the machine to arear portion of the machine, and the load shield is disposed proximateto the conveyer exit.
 6. (canceled)
 7. The machine of claim 1, furthercomprising a remote control for communicating with the electroniccontrol system on the machine, and the remote control includes a switchfor simultaneously extending and retracting the plurality ofground-engaging devices.
 8. (canceled)
 9. A method for removingmaterial, the method comprising: positioning a machine in a firstposition proximate to a cutting surface; detecting a command to performa cutting operation to remove material from the cutting surface;simultaneously extending a plurality of ground-engaging devicesretractably attached to an undercarriage of the toward a ground floor,based on detecting the command to perform the cutting operation; feedinga cutter head disposed on a cutter boom of the machine toward thecutting surface to remove the material from the cutting surface;detecting a command to move the machine to a second position withrespect to the cutting surface; retracting the cutter head from thecutting surface, based on detecting the command to move the machine tosecond position, prior to moving the machine to the second position withrespect to the cutting surface; simultaneously retracting the pluralityof ground-engaging devices with respect to the ground floor, based ondetecting the command to move the machine to the second position, priorto moving the machine to the second position.
 10. The method of claim 9,wherein the plurality of ground-engaging devices includes a stabilizerfor stabilizing the machine when cutting material from the cuttingsurface and a loading shield disposed proximate to a conveyer exit in arear portion of the machine.
 11. The method of claim 10, furthercomprising receiving a operation signal from a remote controlcommunicating with an electronic control system on the machine.
 12. Themethod of claim 11, wherein the operation signal simultaneously extendsor retracts the plurality of ground-engaging devices.
 13. The method ofclaim 12, wherein the operation signal is a cutting command to move thecutter head toward the cutting surface.
 14. The method of claim 13,wherein the remote control includes a toggle switch providingmulti-throw configuration with an extend position, retract position, andneutral position.
 15. The method of claim 14, wherein the toggle switchis a single-throw switch.
 16. The method of claim 10, wherein thestabilizer includes a stabilizer actuator configured to hydraulicallyextend and retract a stabilizer leg attached to a ground pad.
 17. Themethod of claim 16, wherein the stabilizer actuator is operativelyassociated with a pressure sensor configured to cease extension of thestabilizer leg upon hydraulic pressure exceeding a pressure threshold.18. A machine comprising: an undercarriage supported on a firstpropulsion device and a second propulsion device to propel the machine;a cutter head disposed on a tool support and positioning assemblysupported on the undercarriage; a plurality of stabilizers extendablyand retractably connected to the undercarriage that can extend tocontact a ground floor to support the machine when cutting material; aload shield extendably and retractably attached to the undercarriagethat can extend to engage to the ground floor; and an electronic controlsystem having a switch that simultaneously extends and retracts theplurality of stabilizers and the load shield based on receiving acommand to perform an operation associated with the switch.
 19. Themachine of claim 18, wherein the plurality of stabilizers each includesa stabilizer actuator configured to hydraulically extend and retract astabilizer leg attached to a ground pad.
 20. The machine of claim 19,wherein the load shield is disposed proximate to a conveyer exit of aconveyer that extends through the machine.
 21. The machine of claim 1,wherein the electronic control system is configured to automaticallyretract the stabilizers upon detecting a tram command to move themachine.
 22. The machine of claim 1, wherein the electronic controlsystem is configured to extend the stabilizer upon detecting a cuttingcommand to being a cutting operation.